PPP-RTK with Rapid Convergence Based on SSR Corrections and Its Application in Transportation

Abstract

Real-time Kinematic (RTK) positioning provides centimeter-level positioning accuracy within several seconds, but it has to rely on a nearby base station. Although Precise Point Positioning (PPP) supplies precise positions with one receiver, its convergence time takes several tens of minutes, which makes PPP not well suited for real-time kinematic applications where a rapid convergence is required. PPP-RTK integrates the benefits of PPP and RTK, which actually is PPP augmented by a ground GNSS network. The satellite orbit, clock offsets, signal biases, ionospheric and tropospheric corrections are determined based on this GNSS network, modeled as state space information and transmitted to PPP users. By applying these State Space Representation (SSR) corrections, a real-time kinematic PPP-RTK approach is developed and implemented, which can instantly resolve the ambiguities to integers and realize rapid convergence. In a static scenario, it realized an instant ambiguity resolution and a rapid convergence within 2 s in more than 90% of 120 hourly sessions. The PPP-RTK has been applied and evaluated in a kinematic scenario on the highway. The horizontal positioning errors are almost lower than 0.1 m except for the time of passing through bridges. After passing bridges, the PPP-RTK successfully resolved ambiguities within 2 s in 90.6% of the cases and achieved convergence in horizontal within 5 s in more than 90% of the cases. The PPP-RTK with a precision of 0.1 m and rapid convergence of several seconds benefits the precise navigation of automobile on the highway, which will support the development of autonomous driving in future.

Vehicle integrated navigation IMU mounting angles estimation method based on nonlinear optimization

“…Since the GNSS signal strength is strongest when Fixed, i.e. the best positioning accuracy reaching within 20 centimeter [33], we therefore employ the satellite-fixed solution obtained when the GNSS signal strength is Fixed for nonlinear optimization in the IMU mounting angles estimating.…”